Endoscopic Tracking System With MEMS Sensor Fusion Technique

In modern medical field, endoscope along with relevant imaging technology hasbeen a major solution for doctors to observe lesion tissue condition, diagnose earlydisease and improve diagnosis efficiency and accuracy. However, during endoscopicexamination, location of lesion often relies on doctor’s experimental judge, which willlead to longer diagnosis and objective erroneous judgment, so doctors often needtraining in advance. To solve this problem, this article has presented an endoscopictracking system with MEMS sensor fusion technique, which can gain Real-timelocation and orientation of endoscope. In this way, efficiency and accuracy could beimproved; pain for patients could be lessened.MEMS sensor fusion technique is accomplished by targeting one goal withmultiple sensors, compensation of each sensor by filtering and convergence and helpto work out feature information. This article offers a new fusion technique, combining3-axis accelerometer, magnetic sensor and gyroscope chip together in endoscopicprobe. The attitude info is calculating by inertial navigation while the location isworked out by several magnetic exiting sources. All the relative attitude and locationinformation is provided to upper PC with digital human and3D reconstructiontechnique and shown as a visual picture as reference for doctors.This article describe in detail the principle and design scheme of multiple sensorlocation technique, also point out the building process of software and hardwareplatform. The precision and reliability is analyzed at last by experimental data.The main work and achievement of this program is summarized as follows:1. Design a multisensory endoscopic location system, applying fusion skill andsolution from home and abroad. Work out3sensor fusion arithmetic withgyroscope as core, creative a simplified model of magnetic locationalgorithm, which has been transferred as two patents.2. Design low-magnetic test platform, including a3-axis turntable and movablelocative shell, which can assess the whole accuracy of system.3. Apply MFC, MITK, OPENGL tools to establish sensor data analysisinterface, rebuild the human organ and plot3D model to show attitude andorientation of endoscope in digital human environment.4. Finish orientation location test, verify accuracy and real time performance.